diff --git a/CMakeLists.txt b/CMakeLists.txt
index 56309e4d6f92f5c10bb689b5cb7f14354b3d54e3..5352d725ddc0f3e19aa9932c03a262cc4933a085 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -327,7 +327,7 @@ add_executable(test-ads1118 src/tests/sensors/test-ads1118.cpp)
sbs_target(test-ads1118 stm32f407vg_stm32f4discovery)
add_executable(test-ads131m04 src/tests/sensors/test-ads131m04.cpp)
-sbs_target(test-ads131m04 stm32f429zi_stm32f4discovery)
+sbs_target(test-ads131m04 stm32f429zi_skyward_death_stack_v3)
add_executable(test-ads131m08 src/tests/sensors/test-ads131m08.cpp)
sbs_target(test-ads131m08 stm32f767zi_compute_unit)
diff --git a/src/shared/sensors/ADS131M04/ADS131M04.cpp b/src/shared/sensors/ADS131M04/ADS131M04.cpp
index 727ed16a8371926cc7f6d2d3816a46f743acd72c..2f5f7dfda2095b4aff8ffbefd32c37215e6fcd31 100644
--- a/src/shared/sensors/ADS131M04/ADS131M04.cpp
+++ b/src/shared/sensors/ADS131M04/ADS131M04.cpp
@@ -33,37 +33,26 @@ namespace Boardcore
{
ADS131M04::ADS131M04(SPIBusInterface &bus, miosix::GpioPin cs,
- SPIBusConfig config)
- : ADS131M04(SPISlave(bus, cs, config))
+ SPIBusConfig spiConfig, const Config &config)
+ : spiSlave(bus, cs, spiConfig), config(config)
{
+ // Impose the correct spi mode
+ spiSlave.config.mode = SPI::Mode::MODE_1;
}
-ADS131M04::ADS131M04(SPISlave spiSlave) : spiSlave(spiSlave)
+bool ADS131M04::init()
{
- // Initialize the channel configurations to the default values
- for (int i = 0; i < CHANNELS_NUM; i++)
- {
- channelsPGAGain[i] = PGA::PGA_1;
- channelsOffset[i] = 0;
- channelsGain[i] = 1.0;
- }
-}
+ reset();
+ applyConfig(config);
-SPIBusConfig ADS131M04::getDefaultSPIConfig()
-{
- SPIBusConfig spiConfig{};
- spiConfig.clockDivider = SPI::ClockDivider::DIV_64;
- spiConfig.mode = SPI::Mode::MODE_1;
- return spiConfig;
+ return true;
}
-bool ADS131M04::init() { return true; }
-
bool ADS131M04::reset()
{
SPITransaction transaction(spiSlave);
- uint8_t data[ADS131M04Defs::FULL_FRAME_SIZE] = {0};
+ uint8_t data[FULL_FRAME_SIZE] = {0};
sendCommand(transaction, Command::RESET, data);
// The reset command takes typically 5us to reload the register contents.
@@ -85,21 +74,44 @@ bool ADS131M04::reset()
return true;
}
-void ADS131M04::calibrateOffset()
+void ADS131M04::applyConfig(Config config)
{
- // The device internal data chain firsts subtracts the offset and then
- // multiplies for the gain. To calibrate the offset we first reset it, then
- // take some samples and apply the average as the new offset.
- // So we need to reset the offset and gain
for (int i = 0; i < CHANNELS_NUM; i++)
{
- setChannelOffsetImpl(static_cast<Channel>(i), 0);
- setChannelGainCalibrationImpl(static_cast<Channel>(i), 1.0);
+ applyChannelConfig(static_cast<Channel>(i), config.channelsConfig[i]);
}
- // Sample the channels and average the samples
- int32_t averageValues[CHANNELS_NUM] = {0};
- int realSampleCount = 0;
+ setOversamplingRatio(config.oversamplingRatio);
+ if (config.globalChopModeEnabled)
+ {
+ enableGlobalChopMode();
+ }
+ else
+ {
+ disableGlobalChopMode();
+ }
+
+ // Save the newly applied configuration
+ this->config = config;
+}
+
+void ADS131M04::calibrateOffset(Channel channel)
+{
+ // The device internal data chain firsts subtracts the offset and then
+ // multiplies for the gain. To calibrate the offset we first reset it, then
+ // take some samples and apply the average as the new offset.
+ // So we need to reset the offset and gain
+ Config::ChannelConfig calibrationConfig{
+ .enabled = true,
+ .pga = PGA::PGA_1,
+ .offset = 0,
+ .gain = 1.0,
+ };
+ applyChannelConfig(channel, calibrationConfig);
+
+ // Sample the channel and average the samples
+ int32_t averageValue = 0;
+ int realSampleCount = 0;
for (int i = 0; i < CALIBRATION_SAMPLES; i++)
{
// Wait for a sample to be ready
@@ -113,10 +125,7 @@ void ADS131M04::calibrateOffset()
continue;
}
- for (int j = 0; j < CHANNELS_NUM; j++)
- {
- averageValues[j] += rawValues[j];
- }
+ averageValue += rawValues[static_cast<int>(channel)];
realSampleCount++;
}
@@ -127,88 +136,43 @@ void ADS131M04::calibrateOffset()
}
else
{
- for (int i = 0; i < CHANNELS_NUM; i++)
+ // Compute the average
+ averageValue /= realSampleCount;
+ LOG_INFO(logger, "Channel {} average offset: {}",
+ static_cast<int>(channel),
+ averageValue * getLSBSizeFromGain(calibrationConfig.pga));
+
+ // Set the new offset only if valid, otherwise keep the old one
+ if (averageValue != 0)
{
- // Compute the average
- averageValues[i] /= realSampleCount;
- LOG_INFO(logger, "Channel {} average offset: {}", i,
- averageValues[i] * getLSBSizeFromGain(channelsPGAGain[i]));
-
- // Set the new offset only if valid, otherwise keep the old one
- if (averageValues[i] != 0)
- {
- channelsOffset[i] = averageValues[i];
- }
+ config.channelsConfig[static_cast<int>(channel)].offset =
+ averageValue;
}
}
- // Update the offset values and reset the gain as it was before
- for (int i = 0; i < CHANNELS_NUM; i++)
- {
- setChannelOffset(static_cast<Channel>(i), channelsOffset[i]);
- setChannelGainCalibrationImpl(static_cast<Channel>(i), channelsGain[i]);
- }
-}
-
-void ADS131M04::setOversamplingRatio(OversamplingRatio ratio)
-{
- changeRegister(Register::REG_CLOCK, static_cast<uint16_t>(ratio),
- RegClockMasks::OSR);
-}
-
-void ADS131M04::setChannelPGA(Channel channel, PGA gain)
-{
- setChannelPGAImpl(channel, gain);
- channelsPGAGain[static_cast<int>(channel)] = gain;
-}
-
-void ADS131M04::setChannelOffset(Channel channel, uint32_t offset)
-{
- setChannelOffsetImpl(channel, offset);
- channelsOffset[static_cast<int>(channel)] = offset;
-}
-
-void ADS131M04::setChannelGainCalibration(Channel channel, double gain)
-{
- setChannelGainCalibrationImpl(channel, gain);
- channelsGain[static_cast<int>(channel)] = gain;
-}
-
-void ADS131M04::enableChannel(Channel channel)
-{
- changeRegister(Register::REG_CLOCK, 1 << (static_cast<int>(channel) + 8),
- 1 << (static_cast<int>(channel) + 8));
-}
-
-void ADS131M04::disableChannel(Channel channel)
-{
- changeRegister(Register::REG_CLOCK, 0,
- 1 << (static_cast<int>(channel) + 8));
-}
-
-void ADS131M04::enableGlobalChopMode()
-{
- changeRegister(Register::REG_CFG, RegConfigurationMasks::GC_EN,
- RegConfigurationMasks::GC_EN);
-}
-
-void ADS131M04::disableGlobalChopMode()
-{
- changeRegister(Register::REG_CFG, 0, RegConfigurationMasks::GC_EN);
+ // Reset the original configuration with the new offset value
+ applyChannelConfig(channel,
+ config.channelsConfig[static_cast<int>(channel)]);
}
bool ADS131M04::selfTest()
{
bool success = true;
- // Reset PGA, offsets and gains and connect the positive test signal
+ // Reset configuration and connect the positive test signal
+ Config::ChannelConfig selfTestConfig{
+ .enabled = true,
+ .pga = PGA::PGA_1,
+ .offset = 0,
+ .gain = 1.0,
+ };
for (int i = 0; i < CHANNELS_NUM; i++)
{
- setChannelPGAImpl(static_cast<Channel>(i), PGA::PGA_1);
- setChannelOffsetImpl(static_cast<Channel>(i), 0);
- setChannelGainCalibrationImpl(static_cast<Channel>(i), 1.0);
+ applyChannelConfig(static_cast<Channel>(i), selfTestConfig);
setChannelInput(static_cast<Channel>(i), Input::POSITIVE_DC_TEST);
}
+ setOversamplingRatio(OversamplingRatio::OSR_16256);
+ disableGlobalChopMode();
// Take some samples
int32_t averageValues[CHANNELS_NUM] = {0};
@@ -249,7 +213,8 @@ bool ADS131M04::selfTest()
averageValues[i] /= realSampleCount;
// Convert the value to Volts
- float volts = averageValues[i] * getLSBSizeFromGain(PGA::PGA_1);
+ float volts =
+ averageValues[i] * getLSBSizeFromGain(selfTestConfig.pga);
// Check if the value is in the acceptable range
if (volts < V_REF * TEST_SIGNAL_FACTOR - TEST_SIGNAL_SLACK)
@@ -311,7 +276,8 @@ bool ADS131M04::selfTest()
averageValues[i] /= realSampleCount;
// Convert the value to Volts
- float volts = averageValues[i] * getLSBSizeFromGain(PGA::PGA_1);
+ float volts =
+ averageValues[i] * getLSBSizeFromGain(selfTestConfig.pga);
// Check if the value is in the acceptable range
if (volts > -V_REF * TEST_SIGNAL_FACTOR + TEST_SIGNAL_SLACK)
@@ -326,15 +292,15 @@ bool ADS131M04::selfTest()
}
}
- // Reset channels previous configuration
+ // Reset channels input to default
for (int i = 0; i < CHANNELS_NUM; i++)
{
- setChannelPGAImpl(static_cast<Channel>(i), channelsPGAGain[i]);
- setChannelOffsetImpl(static_cast<Channel>(i), channelsOffset[i]);
- setChannelGainCalibrationImpl(static_cast<Channel>(i), channelsGain[i]);
setChannelInput(static_cast<Channel>(i), Input::DEFAULT);
}
+ // Reset to previous configuration
+ applyConfig(config);
+
// We fail even if one channel didn't pass the test
return success;
}
@@ -355,26 +321,42 @@ ADS131M04Data ADS131M04::sampleImpl()
for (int i = 0; i < CHANNELS_NUM; i++)
{
adcData.voltage[i] =
- rawValues[i] * getLSBSizeFromGain(channelsPGAGain[i]);
+ rawValues[i] * getLSBSizeFromGain(config.channelsConfig[i].pga);
}
return adcData;
}
-void ADS131M04::setChannelInput(Channel channel, Input input)
+void ADS131M04::applyChannelConfig(Channel channel,
+ Config::ChannelConfig config)
{
- Register reg = getChannelConfigRegister(channel);
- changeRegister(reg, static_cast<uint16_t>(input), RegChannelMasks::CFG_MUX);
+ if (config.enabled)
+ {
+ setChannelPGA(channel, config.pga);
+ setChannelOffset(channel, config.offset);
+ setChannelGain(channel, config.gain);
+ enableChannel(channel);
+ }
+ else
+ {
+ disableChannel(channel);
+ }
}
-void ADS131M04::setChannelPGAImpl(Channel channel, PGA gain)
+void ADS131M04::setOversamplingRatio(OversamplingRatio ratio)
+{
+ changeRegister(Register::REG_CLOCK, static_cast<uint16_t>(ratio),
+ RegClockMasks::OSR);
+}
+
+void ADS131M04::setChannelPGA(Channel channel, PGA gain)
{
int shift = static_cast<int>(channel) * 4;
changeRegister(Register::REG_GAIN, static_cast<uint16_t>(gain) << shift,
RegGainMasks::PGA_GAIN_0 << shift);
}
-void ADS131M04::setChannelOffsetImpl(Channel channel, uint32_t offset)
+void ADS131M04::setChannelOffset(Channel channel, uint32_t offset)
{
// The offset is a 24 bit value. Its two most significant bytes are stored
// in the MSB register, and the least significant in the LSB register, like
@@ -392,7 +374,7 @@ void ADS131M04::setChannelOffsetImpl(Channel channel, uint32_t offset)
writeRegister(getChannelOffsetRegisterLSB(channel), offset << 8);
}
-void ADS131M04::setChannelGainCalibrationImpl(Channel channel, double gain)
+void ADS131M04::setChannelGain(Channel channel, double gain)
{
// If the user passes a value outside the range [0, 2] we cap it.
if (gain < 0)
@@ -404,7 +386,7 @@ void ADS131M04::setChannelGainCalibrationImpl(Channel channel, double gain)
gain = 2;
}
- // The ADS131M08 corrects for gain errors by multiplying the ADC conversion
+ // The ADS131M04 corrects for gain errors by multiplying the ADC conversion
// result using the gain calibration registers.
// The contents of the gain calibration registers are interpreted by the
// dives as 24-bit unsigned values corresponding to linear steps from 0 to
@@ -430,6 +412,35 @@ void ADS131M04::setChannelGainCalibrationImpl(Channel channel, double gain)
writeRegister(getChannelGainRegisterLSB(channel), rawGain << 8);
}
+void ADS131M04::enableChannel(Channel channel)
+{
+ changeRegister(Register::REG_CLOCK, 1 << (static_cast<int>(channel) + 8),
+ 1 << (static_cast<int>(channel) + 8));
+}
+
+void ADS131M04::disableChannel(Channel channel)
+{
+ changeRegister(Register::REG_CLOCK, 0,
+ 1 << (static_cast<int>(channel) + 8));
+}
+
+void ADS131M04::enableGlobalChopMode()
+{
+ changeRegister(Register::REG_CFG, RegConfigurationMasks::GC_EN,
+ RegConfigurationMasks::GC_EN);
+}
+
+void ADS131M04::disableGlobalChopMode()
+{
+ changeRegister(Register::REG_CFG, 0, RegConfigurationMasks::GC_EN);
+}
+
+void ADS131M04::setChannelInput(Channel channel, Input input)
+{
+ Register reg = getChannelConfigRegister(channel);
+ changeRegister(reg, static_cast<uint16_t>(input), RegChannelMasks::CFG_MUX);
+}
+
Register ADS131M04::getChannelConfigRegister(Channel channel)
{
switch (static_cast<int>(channel))
diff --git a/src/shared/sensors/ADS131M04/ADS131M04.h b/src/shared/sensors/ADS131M04/ADS131M04.h
index c5ac7068f0699efc9bde3edcd39ff392bad77699..d8142f18c33e9e28e3321f82f4158fcf02985bc4 100644
--- a/src/shared/sensors/ADS131M04/ADS131M04.h
+++ b/src/shared/sensors/ADS131M04/ADS131M04.h
@@ -75,27 +75,69 @@ namespace Boardcore
class ADS131M04 : public Sensor<ADS131M04Data>
{
public:
- ADS131M04(SPIBusInterface& bus, miosix::GpioPin cs,
- SPIBusConfig config = getDefaultSPIConfig());
+ struct Config
+ {
+ struct ChannelConfig
+ {
+ bool enabled = true;
+ ADS131M04Defs::PGA pga = ADS131M04Defs::PGA::PGA_1;
+ int32_t offset = 0;
+ double gain = 1.0;
+ };
+
+ ChannelConfig channelsConfig[ADS131M04Defs::CHANNELS_NUM];
+
+ ADS131M04Defs::OversamplingRatio oversamplingRatio =
+ ADS131M04Defs::OversamplingRatio::OSR_16256;
+ bool globalChopModeEnabled = false;
+ };
+
+ ADS131M04(SPIBusInterface& bus, miosix::GpioPin cs, SPIBusConfig spiConfig,
+ const Config& config);
- explicit ADS131M04(SPISlave spiSlave);
+ bool init() override;
+
+ bool reset();
/**
- * Constructs the default config for SPI Bus.
+ * @brief Overwrites the sensor settings.
*
- * @returns The default SPIBusConfig.
+ * Writes a certain config to the sensor registers. This method is
+ * automatically called in ADS131M04::init() using as parameter the
+ * configuration given in the constructor.
+ *
+ * @param config The configuration to be applied.
*/
- static SPIBusConfig getDefaultSPIConfig();
-
- bool init() override;
-
- bool reset();
+ void applyConfig(Config config);
/**
* @brief Samples each channel, averages the samples and applies offset
* compensation in the device.
*/
- void calibrateOffset();
+ void calibrateOffset(ADS131M04Defs::Channel channel);
+
+ /**
+ * @brief The self test samples internally connects each channel to known
+ * test signals and verifies if the sampled values are in an expected range.
+ *
+ * @returns True if the self test is successful, false otherwise.
+ */
+ bool selfTest() override;
+
+private:
+ ADS131M04Data sampleImpl() override;
+
+ /**
+ * @brief Overwrites the channel settings.
+ *
+ * Writes a certain configuration to the sensor registers. This method is
+ * automatically called in ADS131M04::applyConfig and in other routines.
+ *
+ * @param channel Specific channel where the configuration will be applied.
+ * @param config The configuration to be applied.
+ */
+ void applyChannelConfig(ADS131M04Defs::Channel channel,
+ Config::ChannelConfig config);
/**
* @brief changes the oversampling ratio.
@@ -130,7 +172,7 @@ public:
* @param gain Gain value between 0 and 2. Values outside this range will be
* capped.
*/
- void setChannelGainCalibration(ADS131M04Defs::Channel channel, double gain);
+ void setChannelGain(ADS131M04Defs::Channel channel, double gain);
void enableChannel(ADS131M04Defs::Channel channel);
@@ -159,40 +201,9 @@ public:
*/
void disableGlobalChopMode();
- /**
- * @brief The self test samples internally connects each channel to known
- * test signals and verifies if the sampled values are in an expected range.
- *
- * @returns True if the self test is successful, false otherwise.
- */
- bool selfTest() override;
-
-private:
- ADS131M04Data sampleImpl() override;
-
void setChannelInput(ADS131M04Defs::Channel channel,
ADS131M04Defs::Input input);
- /**
- * setChannelPGS() implementation without saving the gain value in
- * the local variable.
- */
- void setChannelPGAImpl(ADS131M04Defs::Channel channel,
- ADS131M04Defs::PGA gain);
-
- /**
- * setChannelOffset() implementation without saving the offset value in
- * the local variable.
- */
- void setChannelOffsetImpl(ADS131M04Defs::Channel channel, uint32_t offset);
-
- /**
- * setChannelGainCalibration() implementation without saving the gain value
- * in the local variable.
- */
- void setChannelGainCalibrationImpl(ADS131M04Defs::Channel channel,
- double gain);
-
ADS131M04Defs::Register getChannelConfigRegister(
ADS131M04Defs::Channel channel);
@@ -234,12 +245,8 @@ private:
SPISlave spiSlave;
- // Saving the current configuration of the device
- // This is necessary because the selfTest and calibrateOffset functions
- // temporarily resets the channels configuration
- ADS131M04Defs::PGA channelsPGAGain[ADS131M04Defs::CHANNELS_NUM];
- uint32_t channelsOffset[ADS131M04Defs::CHANNELS_NUM];
- double channelsGain[ADS131M04Defs::CHANNELS_NUM];
+ // Current device configuration
+ Config config;
PrintLogger logger = Logging::getLogger("ads131m04");
};
diff --git a/src/shared/sensors/ADS131M04/ADS131M04Data.h b/src/shared/sensors/ADS131M04/ADS131M04Data.h
index d04b55a3d560f4c26b307e42af91525ef40cab5d..57057fde47c8402c5c2b2c1a99ba74323730149f 100644
--- a/src/shared/sensors/ADS131M04/ADS131M04Data.h
+++ b/src/shared/sensors/ADS131M04/ADS131M04Data.h
@@ -22,10 +22,13 @@
#pragma once
+#include <sensors/SensorData.h>
#include <stdint.h>
#include <ostream>
+#include "ADS131M04Defs.h"
+
namespace Boardcore
{
@@ -57,6 +60,12 @@ struct ADS131M04Data
os << timestamp << "," << voltage[0] << "," << voltage[1] << ","
<< voltage[2] << "," << voltage[3] << "\n";
}
+
+ const ADCData getVoltage(ADS131M04Defs::Channel channel)
+ {
+ return {timestamp, static_cast<uint8_t>(channel),
+ voltage[static_cast<uint8_t>(channel)]};
+ }
};
} // namespace Boardcore
diff --git a/src/shared/sensors/ADS131M08/ADS131M08.cpp b/src/shared/sensors/ADS131M08/ADS131M08.cpp
index 4dbff38b1a83d647e844b082c98cbf80630b719b..a1e10248313ac0d7b2c309b175a870a550231b93 100644
--- a/src/shared/sensors/ADS131M08/ADS131M08.cpp
+++ b/src/shared/sensors/ADS131M08/ADS131M08.cpp
@@ -33,37 +33,26 @@ namespace Boardcore
{
ADS131M08::ADS131M08(SPIBusInterface &bus, miosix::GpioPin cs,
- SPIBusConfig config)
- : ADS131M08(SPISlave(bus, cs, config))
+ SPIBusConfig spiConfig, const Config &config)
+ : spiSlave(bus, cs, spiConfig), config(config)
{
+ // Impose the correct spi mode
+ spiSlave.config.mode = SPI::Mode::MODE_1;
}
-ADS131M08::ADS131M08(SPISlave spiSlave) : spiSlave(spiSlave)
+bool ADS131M08::init()
{
- // Initialize the channel configurations to the default values
- for (int i = 0; i < CHANNELS_NUM; i++)
- {
- channelsPGAGain[i] = PGA::PGA_1;
- channelsOffset[i] = 0;
- channelsGain[i] = 1.0;
- }
-}
+ reset();
+ applyConfig(config);
-SPIBusConfig ADS131M08::getDefaultSPIConfig()
-{
- SPIBusConfig spiConfig{};
- spiConfig.clockDivider = SPI::ClockDivider::DIV_64;
- spiConfig.mode = SPI::Mode::MODE_1;
- return spiConfig;
+ return true;
}
-bool ADS131M08::init() { return true; }
-
bool ADS131M08::reset()
{
SPITransaction transaction(spiSlave);
- uint8_t data[ADS131M08Defs::FULL_FRAME_SIZE] = {0};
+ uint8_t data[FULL_FRAME_SIZE] = {0};
sendCommand(transaction, Command::RESET, data);
// The reset command takes typically 5us to reload the register contents.
@@ -85,21 +74,44 @@ bool ADS131M08::reset()
return true;
}
-void ADS131M08::calibrateOffset()
+void ADS131M08::applyConfig(Config config)
{
- // The device internal data chain firsts subtracts the offset and then
- // multiplies for the gain. To calibrate the offset we first reset it, then
- // take some samples and apply the average as the new offset.
- // So we need to reset the offset and gain
for (int i = 0; i < CHANNELS_NUM; i++)
{
- setChannelOffsetImpl(static_cast<Channel>(i), 0);
- setChannelGainCalibrationImpl(static_cast<Channel>(i), 1.0);
+ applyChannelConfig(static_cast<Channel>(i), config.channelsConfig[i]);
}
- // Sample the channels and average the samples
- int32_t averageValues[CHANNELS_NUM] = {0};
- int realSampleCount = 0;
+ setOversamplingRatio(config.oversamplingRatio);
+ if (config.globalChopModeEnabled)
+ {
+ enableGlobalChopMode();
+ }
+ else
+ {
+ disableGlobalChopMode();
+ }
+
+ // Save the newly applied configuration
+ this->config = config;
+}
+
+void ADS131M08::calibrateOffset(Channel channel)
+{
+ // The device internal data chain firsts subtracts the offset and then
+ // multiplies for the gain. To calibrate the offset we first reset it, then
+ // take some samples and apply the average as the new offset.
+ // So we need to reset the offset and gain
+ Config::ChannelConfig calibrationConfig{
+ .enabled = true,
+ .pga = PGA::PGA_1,
+ .offset = 0,
+ .gain = 1.0,
+ };
+ applyChannelConfig(channel, calibrationConfig);
+
+ // Sample the channel and average the samples
+ int32_t averageValue = 0;
+ int realSampleCount = 0;
for (int i = 0; i < CALIBRATION_SAMPLES; i++)
{
// Wait for a sample to be ready
@@ -113,10 +125,7 @@ void ADS131M08::calibrateOffset()
continue;
}
- for (int j = 0; j < CHANNELS_NUM; j++)
- {
- averageValues[j] += rawValues[j];
- }
+ averageValue += rawValues[static_cast<int>(channel)];
realSampleCount++;
}
@@ -127,88 +136,43 @@ void ADS131M08::calibrateOffset()
}
else
{
- for (int i = 0; i < CHANNELS_NUM; i++)
+ // Compute the average
+ averageValue /= realSampleCount;
+ LOG_INFO(logger, "Channel {} average offset: {}",
+ static_cast<int>(channel),
+ averageValue * getLSBSizeFromGain(calibrationConfig.pga));
+
+ // Set the new offset only if valid, otherwise keep the old one
+ if (averageValue != 0)
{
- // Compute the average
- averageValues[i] /= realSampleCount;
- LOG_INFO(logger, "Channel {} average offset: {}", i,
- averageValues[i] * getLSBSizeFromGain(channelsPGAGain[i]));
-
- // Set the new offset only if valid, otherwise keep the old one
- if (averageValues[i] != 0)
- {
- channelsOffset[i] = averageValues[i];
- }
+ config.channelsConfig[static_cast<int>(channel)].offset =
+ averageValue;
}
}
- // Update the offset values and reset the gain as it was before
- for (int i = 0; i < CHANNELS_NUM; i++)
- {
- setChannelOffset(static_cast<Channel>(i), channelsOffset[i]);
- setChannelGainCalibrationImpl(static_cast<Channel>(i), channelsGain[i]);
- }
-}
-
-void ADS131M08::setOversamplingRatio(OversamplingRatio ratio)
-{
- changeRegister(Register::REG_CLOCK, static_cast<uint16_t>(ratio),
- RegClockMasks::OSR);
-}
-
-void ADS131M08::setChannelPGA(Channel channel, PGA gain)
-{
- setChannelPGAImpl(channel, gain);
- channelsPGAGain[static_cast<int>(channel)] = gain;
-}
-
-void ADS131M08::setChannelOffset(Channel channel, uint32_t offset)
-{
- setChannelOffsetImpl(channel, offset);
- channelsOffset[static_cast<int>(channel)] = offset;
-}
-
-void ADS131M08::setChannelGainCalibration(Channel channel, double gain)
-{
- setChannelGainCalibrationImpl(channel, gain);
- channelsGain[static_cast<int>(channel)] = gain;
-}
-
-void ADS131M08::enableChannel(Channel channel)
-{
- changeRegister(Register::REG_CLOCK, 1 << (static_cast<int>(channel) + 8),
- 1 << (static_cast<int>(channel) + 8));
-}
-
-void ADS131M08::disableChannel(Channel channel)
-{
- changeRegister(Register::REG_CLOCK, 0,
- 1 << (static_cast<int>(channel) + 8));
-}
-
-void ADS131M08::enableGlobalChopMode()
-{
- changeRegister(Register::REG_CFG, RegConfigurationMasks::GC_EN,
- RegConfigurationMasks::GC_EN);
-}
-
-void ADS131M08::disableGlobalChopMode()
-{
- changeRegister(Register::REG_CFG, 0, RegConfigurationMasks::GC_EN);
+ // Reset the original configuration with the new offset value
+ applyChannelConfig(channel,
+ config.channelsConfig[static_cast<int>(channel)]);
}
bool ADS131M08::selfTest()
{
bool success = true;
- // Reset PGA, offsets and gains and connect the positive test signal
+ // Reset configuration and connect the positive test signal
+ Config::ChannelConfig selfTestConfig{
+ .enabled = true,
+ .pga = PGA::PGA_1,
+ .offset = 0,
+ .gain = 1.0,
+ };
for (int i = 0; i < CHANNELS_NUM; i++)
{
- setChannelPGAImpl(static_cast<Channel>(i), PGA::PGA_1);
- setChannelOffsetImpl(static_cast<Channel>(i), 0);
- setChannelGainCalibrationImpl(static_cast<Channel>(i), 1.0);
+ applyChannelConfig(static_cast<Channel>(i), selfTestConfig);
setChannelInput(static_cast<Channel>(i), Input::POSITIVE_DC_TEST);
}
+ setOversamplingRatio(OversamplingRatio::OSR_16256);
+ disableGlobalChopMode();
// Take some samples
int32_t averageValues[CHANNELS_NUM] = {0};
@@ -249,7 +213,8 @@ bool ADS131M08::selfTest()
averageValues[i] /= realSampleCount;
// Convert the value to Volts
- float volts = averageValues[i] * getLSBSizeFromGain(PGA::PGA_1);
+ float volts =
+ averageValues[i] * getLSBSizeFromGain(selfTestConfig.pga);
// Check if the value is in the acceptable range
if (volts < V_REF * TEST_SIGNAL_FACTOR - TEST_SIGNAL_SLACK)
@@ -311,7 +276,8 @@ bool ADS131M08::selfTest()
averageValues[i] /= realSampleCount;
// Convert the value to Volts
- float volts = averageValues[i] * getLSBSizeFromGain(PGA::PGA_1);
+ float volts =
+ averageValues[i] * getLSBSizeFromGain(selfTestConfig.pga);
// Check if the value is in the acceptable range
if (volts > -V_REF * TEST_SIGNAL_FACTOR + TEST_SIGNAL_SLACK)
@@ -326,15 +292,15 @@ bool ADS131M08::selfTest()
}
}
- // Reset channels previous configuration
+ // Reset channels input to default
for (int i = 0; i < CHANNELS_NUM; i++)
{
- setChannelPGAImpl(static_cast<Channel>(i), channelsPGAGain[i]);
- setChannelOffsetImpl(static_cast<Channel>(i), channelsOffset[i]);
- setChannelGainCalibrationImpl(static_cast<Channel>(i), channelsGain[i]);
setChannelInput(static_cast<Channel>(i), Input::DEFAULT);
}
+ // Reset to previous configuration
+ applyConfig(config);
+
// We fail even if one channel didn't pass the test
return success;
}
@@ -355,19 +321,35 @@ ADS131M08Data ADS131M08::sampleImpl()
for (int i = 0; i < CHANNELS_NUM; i++)
{
adcData.voltage[i] =
- rawValues[i] * getLSBSizeFromGain(channelsPGAGain[i]);
+ rawValues[i] * getLSBSizeFromGain(config.channelsConfig[i].pga);
}
return adcData;
}
-void ADS131M08::setChannelInput(Channel channel, Input input)
+void ADS131M08::applyChannelConfig(Channel channel,
+ Config::ChannelConfig config)
{
- Register reg = getChannelConfigRegister(channel);
- changeRegister(reg, static_cast<uint16_t>(input), RegChannelMasks::CFG_MUX);
+ if (config.enabled)
+ {
+ setChannelPGA(channel, config.pga);
+ setChannelOffset(channel, config.offset);
+ setChannelGain(channel, config.gain);
+ enableChannel(channel);
+ }
+ else
+ {
+ disableChannel(channel);
+ }
+}
+
+void ADS131M08::setOversamplingRatio(OversamplingRatio ratio)
+{
+ changeRegister(Register::REG_CLOCK, static_cast<uint16_t>(ratio),
+ RegClockMasks::OSR);
}
-void ADS131M08::setChannelPGAImpl(Channel channel, PGA gain)
+void ADS131M08::setChannelPGA(Channel channel, PGA gain)
{
if (channel <= Channel::CHANNEL_3)
{
@@ -385,7 +367,7 @@ void ADS131M08::setChannelPGAImpl(Channel channel, PGA gain)
}
}
-void ADS131M08::setChannelOffsetImpl(Channel channel, uint32_t offset)
+void ADS131M08::setChannelOffset(Channel channel, int32_t offset)
{
// The offset is a 24 bit value. Its two most significant bytes are stored
// in the MSB register, and the least significant in the LSB register, like
@@ -403,7 +385,7 @@ void ADS131M08::setChannelOffsetImpl(Channel channel, uint32_t offset)
writeRegister(getChannelOffsetRegisterLSB(channel), offset << 8);
}
-void ADS131M08::setChannelGainCalibrationImpl(Channel channel, double gain)
+void ADS131M08::setChannelGain(Channel channel, double gain)
{
// If the user passes a value outside the range [0, 2] we cap it.
if (gain < 0)
@@ -441,6 +423,35 @@ void ADS131M08::setChannelGainCalibrationImpl(Channel channel, double gain)
writeRegister(getChannelGainRegisterLSB(channel), rawGain << 8);
}
+void ADS131M08::enableChannel(Channel channel)
+{
+ changeRegister(Register::REG_CLOCK, 1 << (static_cast<int>(channel) + 8),
+ 1 << (static_cast<int>(channel) + 8));
+}
+
+void ADS131M08::disableChannel(Channel channel)
+{
+ changeRegister(Register::REG_CLOCK, 0,
+ 1 << (static_cast<int>(channel) + 8));
+}
+
+void ADS131M08::enableGlobalChopMode()
+{
+ changeRegister(Register::REG_CFG, RegConfigurationMasks::GC_EN,
+ RegConfigurationMasks::GC_EN);
+}
+
+void ADS131M08::disableGlobalChopMode()
+{
+ changeRegister(Register::REG_CFG, 0, RegConfigurationMasks::GC_EN);
+}
+
+void ADS131M08::setChannelInput(Channel channel, Input input)
+{
+ Register reg = getChannelConfigRegister(channel);
+ changeRegister(reg, static_cast<uint16_t>(input), RegChannelMasks::CFG_MUX);
+}
+
Register ADS131M08::getChannelConfigRegister(Channel channel)
{
switch (static_cast<int>(channel))
diff --git a/src/shared/sensors/ADS131M08/ADS131M08.h b/src/shared/sensors/ADS131M08/ADS131M08.h
index 01ad2c733f0883054976fa1e03209ce33415ef7a..a83fdaf0978013227e8990c83a7540ce7268cf9d 100644
--- a/src/shared/sensors/ADS131M08/ADS131M08.h
+++ b/src/shared/sensors/ADS131M08/ADS131M08.h
@@ -75,27 +75,69 @@ namespace Boardcore
class ADS131M08 : public Sensor<ADS131M08Data>
{
public:
- ADS131M08(SPIBusInterface& bus, miosix::GpioPin cs,
- SPIBusConfig config = getDefaultSPIConfig());
+ struct Config
+ {
+ struct ChannelConfig
+ {
+ bool enabled = true;
+ ADS131M08Defs::PGA pga = ADS131M08Defs::PGA::PGA_1;
+ int32_t offset = 0;
+ double gain = 1.0;
+ };
+
+ ChannelConfig channelsConfig[ADS131M08Defs::CHANNELS_NUM];
+
+ ADS131M08Defs::OversamplingRatio oversamplingRatio =
+ ADS131M08Defs::OversamplingRatio::OSR_16256;
+ bool globalChopModeEnabled = false;
+ };
+
+ ADS131M08(SPIBusInterface& bus, miosix::GpioPin cs, SPIBusConfig spiConfig,
+ const Config& config);
- explicit ADS131M08(SPISlave spiSlave);
+ bool init() override;
+
+ bool reset();
/**
- * Constructs the default config for SPI Bus.
+ * @brief Overwrites the sensor settings.
*
- * @returns The default SPIBusConfig.
+ * Writes a certain config to the sensor registers. This method is
+ * automatically called in ADS131M08::init() using as parameter the
+ * configuration given in the constructor.
+ *
+ * @param config The configuration to be applied.
*/
- static SPIBusConfig getDefaultSPIConfig();
-
- bool init() override;
-
- bool reset();
+ void applyConfig(Config config);
/**
* @brief Samples each channel, averages the samples and applies offset
* compensation in the device.
*/
- void calibrateOffset();
+ void calibrateOffset(ADS131M08Defs::Channel channel);
+
+ /**
+ * @brief The self test samples internally connects each channel to known
+ * test signals and verifies if the sampled values are in an expected range.
+ *
+ * @returns True if the self test is successful, false otherwise.
+ */
+ bool selfTest() override;
+
+private:
+ ADS131M08Data sampleImpl() override;
+
+ /**
+ * @brief Overwrites the channel settings.
+ *
+ * Writes a certain configuration to the sensor registers. This method is
+ * automatically called in ADS131M08::applyConfig and in other routines.
+ *
+ * @param channel Specific channel where the configuration will be applied.
+ * @param config The configuration to be applied.
+ */
+ void applyChannelConfig(ADS131M08Defs::Channel channel,
+ Config::ChannelConfig config);
/**
* @brief changes the oversampling ratio.
@@ -122,7 +164,7 @@ public:
*
* Note that the device offset is a 24bit two complement.
*/
- void setChannelOffset(ADS131M08Defs::Channel channel, uint32_t offset);
+ void setChannelOffset(ADS131M08Defs::Channel channel, int32_t offset);
/**
* @brief Sets the channel gain calibration.
@@ -130,7 +172,7 @@ public:
* @param gain Gain value between 0 and 2. Values outside this range will be
* capped.
*/
- void setChannelGainCalibration(ADS131M08Defs::Channel channel, double gain);
+ void setChannelGain(ADS131M08Defs::Channel channel, double gain);
void enableChannel(ADS131M08Defs::Channel channel);
@@ -159,40 +201,9 @@ public:
*/
void disableGlobalChopMode();
- /**
- * @brief The self test samples internally connects each channel to known
- * test signals and verifies if the sampled values are in an expected range.
- *
- * @returns True if the self test is successful, false otherwise.
- */
- bool selfTest() override;
-
-private:
- ADS131M08Data sampleImpl() override;
-
void setChannelInput(ADS131M08Defs::Channel channel,
ADS131M08Defs::Input input);
- /**
- * setChannelPGS() implementation without saving the gain value in
- * the local variable.
- */
- void setChannelPGAImpl(ADS131M08Defs::Channel channel,
- ADS131M08Defs::PGA gain);
-
- /**
- * setChannelOffset() implementation without saving the offset value in
- * the local variable.
- */
- void setChannelOffsetImpl(ADS131M08Defs::Channel channel, uint32_t offset);
-
- /**
- * setChannelGainCalibration() implementation without saving the gain value
- * in the local variable.
- */
- void setChannelGainCalibrationImpl(ADS131M08Defs::Channel channel,
- double gain);
-
ADS131M08Defs::Register getChannelConfigRegister(
ADS131M08Defs::Channel channel);
@@ -234,12 +245,8 @@ private:
SPISlave spiSlave;
- // Saving the current configuration of the device
- // This is necessary because the selfTest and calibrateOffset functions
- // temporarily resets the channels configuration
- ADS131M08Defs::PGA channelsPGAGain[ADS131M08Defs::CHANNELS_NUM];
- uint32_t channelsOffset[ADS131M08Defs::CHANNELS_NUM];
- double channelsGain[ADS131M08Defs::CHANNELS_NUM];
+ // Current device configuration
+ Config config;
PrintLogger logger = Logging::getLogger("ads131m08");
};
diff --git a/src/shared/sensors/ADS131M08/ADS131M08Data.h b/src/shared/sensors/ADS131M08/ADS131M08Data.h
index ac28f168b6dc248e23f5e5ebfa566ced2353c17a..35ab9fe02e543594c2ecaca4ae384a7a85dc78ec 100644
--- a/src/shared/sensors/ADS131M08/ADS131M08Data.h
+++ b/src/shared/sensors/ADS131M08/ADS131M08Data.h
@@ -22,6 +22,7 @@
#pragma once
+#include <sensors/SensorData.h>
#include <stdint.h>
#include <ostream>
@@ -67,7 +68,7 @@ struct ADS131M08Data
<< voltage[5] << "," << voltage[6] << "," << voltage[7] << "\n";
}
- ADCData getVoltage(ADS131M08Defs::Channel channel)
+ const ADCData getVoltage(ADS131M08Defs::Channel channel)
{
return {timestamp, static_cast<uint8_t>(channel),
voltage[static_cast<uint8_t>(channel)]};
diff --git a/src/tests/sensors/test-ads131m04.cpp b/src/tests/sensors/test-ads131m04.cpp
index cda44e9bc792c530de52472beecf5f095163a90b..1e073ee6ecd1ade54b7697fb307433c22a9d9519 100644
--- a/src/tests/sensors/test-ads131m04.cpp
+++ b/src/tests/sensors/test-ads131m04.cpp
@@ -28,10 +28,10 @@
using namespace miosix;
using namespace Boardcore;
-GpioPin sckPin = GpioPin(GPIOE_BASE, 2);
-GpioPin misoPin = GpioPin(GPIOE_BASE, 5);
-GpioPin mosiPin = GpioPin(GPIOE_BASE, 6);
-GpioPin csPin = GpioPin(GPIOE_BASE, 4);
+GpioPin sckPin = GpioPin(GPIOA_BASE, 5);
+GpioPin misoPin = GpioPin(GPIOA_BASE, 6);
+GpioPin mosiPin = GpioPin(GPIOA_BASE, 7);
+GpioPin csPin = GpioPin(GPIOA_BASE, 4);
void initBoard()
{
@@ -51,21 +51,17 @@ int main()
// Enable SPI clock and set gpios
initBoard();
- // SPI configuration setup
- SPIBus spiBus(SPI4);
- SPISlave spiSlave(spiBus, csPin, ADS131M04::getDefaultSPIConfig());
+ // ADC configuration
+ ADS131M04::Config config{
+ .oversamplingRatio = ADS131M04Defs::OversamplingRatio::OSR_8192,
+ .globalChopModeEnabled = true,
+ };
// Device initialization
- ADS131M04 ads131(spiSlave);
+ SPIBus spiBus(SPI1);
+ ADS131M04 ads131(spiBus, csPin, {}, config);
- ads131.reset();
-
- ads131.enableGlobalChopMode();
- ads131.setOversamplingRatio(ADS131M04Defs::OversamplingRatio::OSR_16256);
-
- // WARNING: After changing the OSR the device needs some time to settle
- delayMs(20);
- ads131.calibrateOffset();
+ ads131.init();
printf("Now performing self test...\n");
if (ads131.selfTest())
@@ -77,13 +73,18 @@ int main()
printf("Self test failed!\n");
}
+ // ads131.calibrateOffset(ADS131M04Defs::Channel::CHANNEL_0);
+ // ads131.calibrateOffset(ADS131M04Defs::Channel::CHANNEL_1);
+ // ads131.calibrateOffset(ADS131M04Defs::Channel::CHANNEL_2);
+ // ads131.calibrateOffset(ADS131M04Defs::Channel::CHANNEL_3);
+
while (true)
{
ads131.sample();
ADS131M04Data data = ads131.getLastSample();
- printf("% 2.5f\t% 2.5f\t% 2.5f\t% 2.5f\n", data.voltage[0],
+ printf("% 2.8f\t% 2.8f\t% 2.8f\t% 2.8f\n", data.voltage[0],
data.voltage[1], data.voltage[2], data.voltage[3]);
delayMs(50);
diff --git a/src/tests/sensors/test-ads131m08.cpp b/src/tests/sensors/test-ads131m08.cpp
index ee199d39c61f76a303429d0b08f83c93ae261c70..ea36065dc7d26525788b7ad0fddfda30f779a43f 100644
--- a/src/tests/sensors/test-ads131m08.cpp
+++ b/src/tests/sensors/test-ads131m08.cpp
@@ -51,21 +51,17 @@ int main()
// Enable SPI clock and set gpios
initBoard();
- // SPI configuration setup
- SPIBus spiBus(SPI4);
- SPISlave spiSlave(spiBus, csPin, ADS131M08::getDefaultSPIConfig());
+ // ADC configuration
+ ADS131M08::Config config{
+ .oversamplingRatio = ADS131M08Defs::OversamplingRatio::OSR_8192,
+ .globalChopModeEnabled = true,
+ };
// Device initialization
- ADS131M08 ads131(spiSlave);
-
- ads131.reset();
-
- ads131.enableGlobalChopMode();
- ads131.setOversamplingRatio(ADS131M08Defs::OversamplingRatio::OSR_16256);
+ SPIBus spiBus(SPI4);
+ ADS131M08 ads131(spiBus, csPin, {}, config);
- // WARNING: After changing the OSR the device needs some time to settle
- delayMs(20);
- ads131.calibrateOffset();
+ ads131.init();
printf("Now performing self test...\n");
if (ads131.selfTest())
@@ -77,6 +73,15 @@ int main()
printf("Self test failed!\n");
}
+ ads131.calibrateOffset(ADS131M08Defs::Channel::CHANNEL_0);
+ ads131.calibrateOffset(ADS131M08Defs::Channel::CHANNEL_1);
+ ads131.calibrateOffset(ADS131M08Defs::Channel::CHANNEL_2);
+ ads131.calibrateOffset(ADS131M08Defs::Channel::CHANNEL_3);
+ ads131.calibrateOffset(ADS131M08Defs::Channel::CHANNEL_4);
+ ads131.calibrateOffset(ADS131M08Defs::Channel::CHANNEL_5);
+ ads131.calibrateOffset(ADS131M08Defs::Channel::CHANNEL_6);
+ ads131.calibrateOffset(ADS131M08Defs::Channel::CHANNEL_7);
+
while (true)
{
ads131.sample();
@@ -84,10 +89,10 @@ int main()
ADS131M08Data data = ads131.getLastSample();
printf(
- "% 2.5f\t% 2.5f\t% 2.5f\t% 2.5f\t% 2.5f\t% 2.5f\t% 2.5f\t% 2.5f\n",
+ "% 2.8f\t% 2.8f\t% 2.8f\t% 2.8f\t% 2.8f\t% 2.8f\t% 2.8f\t% 2.8f\n",
data.voltage[0], data.voltage[1], data.voltage[2], data.voltage[3],
data.voltage[4], data.voltage[5], data.voltage[6], data.voltage[7]);
- delayMs(50);
+ delayMs(100);
}
}